CN109167737A - The CAN dispatching method of fused data reduction and dynamic priority queue - Google Patents
The CAN dispatching method of fused data reduction and dynamic priority queue Download PDFInfo
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- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
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- H—ELECTRICITY
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- H04L12/00—Data switching networks
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- H—ELECTRICITY
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Abstract
The invention discloses the CAN dispatching methods of fused data reduction and dynamic priority queue, by carrying out reasonable design to CAN bus agreement, the mathematical model for establishing CAN bus message response time and load by Ken Daer queuing theory first obtains the theoretical delay of CAN bus under different loads；Then data reduction scheduling is carried out to real time information for CAN bus information repetitive rate high feature, reduce the load in CAN bus, to promote CAN bus real-time performance, and application distribution formula queue dynamic priority scheduling algorithm reasonably dispatches CAN bus real-time messages, by sacrificing high-priority message real-time performance by a small margin, to increase substantially low priority message real-time performance, to reduce the average delay time of CAN bus message.The problems such as present invention improves CAN bus system as load capacity caused by bus length increase reduces, and real-time performance is poor under high load.
Description
Technical field
The present invention relates to industrial network control technical field more particularly to a kind of reduction of fused data and dynamic priority teams
The CAN dispatching method of column.
Background technique
The message transmitted in CAN bus requires to be broadly divided into hard real time message, weak projectivity message and non-according to time-constrain
Real-time messages.Hard real time message is primarily referred to as sudden message, such message must within the off period end of transmission, in order to avoid
There is CAN bus blocking and saturated phenomenon need to take corresponding bus message scheduling strategy under limited bandwidth situation,
To reasonable distribution bandwidth resources, improve the utilization rate of CAN message data, improve system fairness, reach equalizing bus bar load,
The purpose that reduction system is integrally delayed.For this reason, it may be necessary to design a kind of message transmission dispatching method of CAN bus.
Summary of the invention
In view of this, the embodiment provides also enhance while a kind of raising existing CAN bus real-time performance
The CAN dispatching method of the fused data reduction and dynamic priority queue of its load capacity.
The embodiment of the present invention provides the CAN dispatching method of fused data reduction and dynamic priority queue, by CAN
Bus protocol carries out reasonable design, establishes CAN bus message response time and load by Ken Daer queuing theory first
Mathematical model obtains the theoretical delay of CAN bus under different loads；Then the feature high for CAN bus information repetitive rate
Data reduction scheduling is carried out to real time information, the load in CAN bus is reduced, to promote CAN bus real-time performance, and applies
Distributed queue's dynamic priority scheduling algorithm reasonably dispatches CAN bus real-time messages, by sacrificing height by a small margin
Priority message real-time performance, so that low priority message real-time performance is increased substantially, to reduce the flat of CAN bus message
Equal delay time.
Further, data reduction scheduling specifically includes the following steps:
(1-1) takes 2 in CAN identifier, is respectively used to be set as variation marker and reduces marker, variation mark
To indicate whether data change, reduction marker is used to show Data duplication byte situation for position；
(1-2) is changed according to the difference of Data duplication situation by the different variation marker of set and reduction marker
Become message priority；
(1-3) needs the message for carrying out data reduction when that is, variation marker and reduction marker are not 0
It is recompiled and generates a new byte and is referred to as DRC byte, sets 0 by carrying out the i-th bit in DRC byte
Come indicate current data i-th of byte and Backup Data i-th of byte repeat, which is not required to send, therefore is reduced；
Conversely, to indicate that the current byte does not repeat, and it is arranged according to original byte sequencing by by the position DRC 1
After DRC byte；
After reduction transmission, receiving node will dock collection of letters breath and be decoded reconstruct (1-4) data.
Further, in the step (1-2), if data pleonasm joint number is less than or equal to 1 byte in message, variation is marked
Know position and reduction marker sets 0, highest priority；When repeating more than 1 byte data, then it will change home position 0, reduction
Home position 1, priority is taken second place；If data repeat completely, variation marker and reduction marker are set 1, it is preferential
Grade is minimum.
Further, in the step (1-4), when receiving new information, receiving node first determines whether the variation mark of the data
Position and reduction marker are known, if discovery variation home position 1, calls directly Backup Data；If changing marker is 0, contracting
Subtracting marker is 1, then receiving node is just decoded the data, and the repetition situation of data and calling pair are judged with DRC sections
The data of byte are answered, and receive the non-duplicate data that subsequent second byte starts, receiving node is it is possible thereby to restore the message
Total data content.
Further, distributed queue's dynamic priority scheduling algorithm specifically includes the following steps:
CAN identifier is used for distributed dynamic Priority scheduling under (2-1) remainder, in all of remaining CAN identifier
L are taken in the ID of position as priority field is set as Qpi, which forms a FIFO priority queue in CAN bus, and CAN is total
Each node is in addition to storing the position of this message in the queue on line, while needing to record the node in CAN bus
Waiting delay, so that the message sent in CAN bus be made to form the relevant distributed dynamic of the parameters such as one and its waiting time
Priority queue；
(2-2) is that different promotion weights is arranged in different nodes, and high-priority message should occupy biggish promotion weight, low
Priority message occupies lesser promotion weight.
Further, in the step (2-1), if node i=0,1, the priority field Q of 2 ..., mpiWith message frame in queue
In waiting time t dynamic change, then it can be expressed as shown in formula (1):
Qpi=(2l-1)-fi(t) (1)
In formula: fi(t) what is represented is the function being incremented by as the time increases, and the waiting time is mainly derived from message and exists
Delay caused by constantly failure is competed in arbitrated procedure, therefore, if setting the transmission time that τ is message frame in CAN bus, n
The frequency of failure for being message frame in queuing process, then can be normalized makes t=n τ, then can be expressed as such as formula (2) institute
Show:
Qpi=(2l-1)-fi(nτ) (2)。
Further, it in the step (2-2), chooses a part of field and is used to do static priority field, remainder is dynamic
Priority field is different nodes to be provided with different weights, if k is preferential according to the difference of node fixed priority
Grade promotes weight, and each node chooses different k values according to the difference of fixed priority, and fixed priority is higher, then k is bigger,
On the contrary then smaller, formula (2) can be changed to shown in formula (3) as a result:
Qpi=(2l-1)-fi(n,τ,k) (3)。
Further, the dynamic priority promotes the foremost that queue is placed on all CAN identifiers, will variation marker and
Reduction marker is placed on centre, and static identifier is placed on finally.
Compared with prior art, the invention has the following advantages: being directed to a part of CAN bus system Data duplication rate
High feature proposes a kind of data reduction dispatching algorithm (Data Reduction, DR) to improve bus load situation, reduces
The load factor of bus is to improve the real-time performance and load capacity of system.It is real for CAN bus under high load condition
Shi Xingneng poor situation has used distributed queue's dynamic priority scheduling algorithm (Distributed Dynamic
Priority Queue, DDPQ) improve the fairness under system high load condition, and then lifting system totality real-time performance.
In conjunction with the respective advantage of DR algorithm and DDPQ algorithm, by reasonable design agreement, DDPQDR algorithm is in load capacity and real-time
Performance on energy is more excellent, thus to improve CAN bus system with the reduction of load capacity caused by bus length increase, height
Load the problems such as lower real-time performance is poor.
Detailed description of the invention
Fig. 1 is the algorithm coding schematic diagram in the scheduling of one embodiment of the invention data reduction.
Fig. 2 is the decoding process figure in the scheduling of one embodiment of the invention data reduction.
Fig. 3 is that one embodiment of the invention distributed queue dynamic priority scheduling algorithm promotes flow chart.
Fig. 4 is that one embodiment of the invention is specifically identified symbol field schematic diagram.
Fig. 5 is one embodiment of the invention load and delay Analysis figure.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
The embodiment provides the CAN dispatching methods of fused data reduction and dynamic priority queue, by right
CAN bus agreement carries out reasonable design, establishes CAN bus message response time and load by Ken Daer queuing theory first
Mathematical model, obtain the theoretical delay of CAN bus under different loads；Then the spy high for CAN bus information repetitive rate
Point carries out data reduction scheduling to real time information, reduces the load in CAN bus, to promote CAN bus real-time performance, and answers
CAN bus real-time messages are reasonably dispatched with distributed queue's dynamic priority scheduling algorithm, by sacrificing by a small margin
High-priority message real-time performance, so that low priority message real-time performance is increased substantially, to reduce CAN bus message
Average delay time.
Data reduction scheduling specifically includes the following steps:
(1-1) takes 2 in CAN identifier, is respectively used to be set as variation marker and reduces marker, variation mark
To indicate whether data change, reduction marker is used to show Data duplication byte situation for position；
(1-2) is changed according to the difference of Data duplication situation by the different variation marker of set and reduction marker
Become message priority；If data pleonasm joint number is less than or equal to 1 byte in message, marker will be changed and reduction marker is equal
0 is set, highest priority；When being repeated more than 1 byte data, then it will change home position 0, and reduce home position 1, priority
Take second place；If data repeat completely, variation marker and reduction marker are set 1, priority is minimum；
(1-3) needs the message for carrying out data reduction when that is, variation marker and reduction marker are not 0
It is recompiled and generates a new byte and is referred to as DRC byte, sets 0 by carrying out the i-th bit in DRC byte
Come indicate current data i-th of byte and Backup Data i-th of byte repeat, which is not required to send, therefore is reduced；
Conversely, to indicate that the current byte does not repeat, and it is arranged according to original byte sequencing by by the position DRC 1
After DRC byte；
After reduction transmission, receiving node will dock collection of letters breath and be decoded reconstruct (1-4) data；It is new when receiving
Message, receiving node first determines whether the variation marker and reduction marker of the data, if discovery variation home position 1, directly
Connect calling Backup Data；If changing marker is 0, reduction marker is 1, then receiving node is just decoded the data,
Judge the repetition situation of data with DRC sections and call the data of corresponding byte, and receive subsequent second byte start it is non-heavy
Complex data, receiving node is it is possible thereby to restore the total data content of the message.
Distributed queue's dynamic priority scheduling algorithm specifically includes the following steps:
CAN identifier is used for distributed dynamic Priority scheduling under (2-1) remainder, in all of remaining CAN identifier
L are taken in the ID of position as priority field is set as Qpi, which forms a FIFO priority queue in CAN bus, and CAN is total
Each node is in addition to storing the position of this message in the queue on line, while needing to record the node in CAN bus
Waiting delay, so that the message sent in CAN bus be made to form the relevant distributed dynamic of the parameters such as one and its waiting time
Priority queue；
If node i=0,1, the priority field Q of 2 ..., mpiWith the waiting time t dynamic change of message frame in the queue,
Then it can be expressed as shown in formula (1):
Qpi=(2l-1)-fi(t) (1)
In formula: fi(t) what is represented is the function being incremented by as the time increases, and the waiting time is mainly derived from message and exists
Delay caused by constantly failure is competed in arbitrated procedure, therefore, if setting the transmission time that τ is message frame in CAN bus, n
The frequency of failure for being message frame in queuing process, then can be normalized makes t=n τ, then can be expressed as such as formula (2) institute
Show:
Qpi=(2l-1)-fi(nτ) (2)。
(2-2) is that different promotion weights is arranged in different nodes, and high-priority message should occupy biggish promotion weight, low
Priority message occupies lesser promotion weight.
It chooses a part of field and is used to do static priority field, remainder is dynamic priority field, is fixed according to node
The difference of priority is different node to be provided with different weights, if k is that priority promotes weight, each node is according to solid
The difference of priority is determined to choose different k values, and fixed priority is higher, then k is bigger, and on the contrary then smaller, formula (2) can as a result,
It is changed to shown in formula (3):
Qpi=(2l-1)-fi(n,τ,k) (3)。
Dynamic priority promotes the foremost that queue is placed on all CAN identifiers, by variation marker and reduction marker
It is placed on centre, static identifier is placed on finally.
Embodiment 1
The embodiment provides the CAN dispatching methods of fused data reduction and dynamic priority queue, comprising:
(1) feature high for a part of CAN bus system Data duplication rate, proposes a kind of data reduction dispatching method
(Data Reduction, DR) improves bus load situation, thus to improve the real-time performance of system and load capacity.
(2) situation poor for CAN bus real-time performance under high load condition, has used distributed queue's dynamic priority
Grade dispatching algorithm (Distributed Dynamic Priority Queue, DDPQ) improves the public affairs under system high load condition
Levelling, and then lifting system totality real-time performance.
(3) in order to combine DR algorithm and DDPQ algorithm respectively advantage, the invention proposes a kind of points of fused data reduction
The improvement dispatching algorithm (DDPQDR) of cloth queue priority.By reasonable design agreement, DDPQDR algorithm is in load capacity
It is more excellent with the performance in real-time performance.
Data reduction scheduling includes following sub-step:
(1-1) takes 2 in 11 CAN identifiers to change marker for being set as by taking CAN2.0A standard as an example
(Change Identification Bit, CIB) and reduction marker (Reduced Identification Bit, RIB).
CIB to indicate whether data change, RIB be used to show Data duplication byte situation.And according to Data duplication feelings
The difference of condition changes message priority by set CIB and RIB.
The different position CIB and RIB is arranged according to the difference for repeating situation in (1-2).If data pleonasm joint number in message
Less than or equal to 1 byte, then 0 is set by CIB and RIB, highest priority；When being repeated more than 1 byte data, then by CIB
It sets 0, RIB and sets 1, priority is taken second place.If data repeat completely, CIB and RIB are set 1, priority is minimum.CIB and
RIB bit identifier specifically changes as shown in table 1.
Table 1 reduces marker map table
(1-3) needs to compile it again for the message for carrying out data reduction when i.e. CIB and RIB are not 0
One new byte of code and generation is referred to as DRC byte, indicates current data by carrying out the i-th bit in DRC byte to set 0
I-th of byte and i-th of byte of Backup Data repeat, therefore the byte is not required to send, therefore is reduced.Otherwise pass through by
The position DRC 1, to indicate that the current byte does not repeat, and after it is arranged in DRC byte according to original byte sequencing.
Assuming that a following message only has No. 4 and No. 7 byte changes, remaining is repetition byte, coding principle such as Fig. 1 institute entirely
Show.
(1-4) data are after reduction transmission, and receiving node will dock collection of letters breath and be decoded reconstruct, as shown in Figure 2.
When receiving new information, receiving node first determines whether the positions CIB of the data and RIB.If being called directly standby it was found that CIB sets 1
Part data.If CIB is 0, RIB 1, then receiving node is just decoded the data, and the repetition of data is judged with DRC sections
Situation and the data for calling corresponding byte, and receive the non-duplicate data that subsequent second byte starts, receiving node it is possible thereby to
Restore the total data content of the message.
Distributed queue's dynamic priority scheduling algorithm includes following sub-step:
(2-1) takes l as priority field in 11 ID of CAN identifier and is set as Qpi, field shape in bus
At a FIFO priority queue, each node needs simultaneously in addition to storing the position of this message in the queue in bus
Waiting delay of the node in bus is recorded, so that the message sent in bus be made to form the parameters such as one and its waiting time
Relevant distributed dynamic priority queue.If node i=0,1, the priority field Q of 2 ..., mpiIn the queue with message frame
Waiting time t dynamic change, then it can be expressed as shown in formula (1).
Qpi=(2l-1)-fi(t) (1)
fi(t) what is represented is as the time increases and incremental function.And the waiting time is mainly derived from message and is arbitrating
Delay caused by competition constantly failure in the process, therefore, if setting the transmission time that τ is message frame in bus, n is message frame
The frequency of failure in queuing process, then can be normalized makes t=n τ, then can be expressed as shown in formula (2):
Qpi=(2l-1)-fi(nτ) (2)
(2-2) is that different promotion weights is arranged in different nodes, and high-priority message should occupy biggish promotion weight, low
Priority message occupies lesser promotion weight to solve the problems, such as to overemphasize fairness.The present invention has chosen a part of word
Section is used to do static priority field, is different nodes to be provided with different power according to the difference of node fixed priority
Weight.If k is that priority promotes weight, each node chooses different k values according to the difference of fixed priority.Fixed priority is got over
Height, then k is bigger, on the contrary then smaller.Formula (2) can be changed to shown in formula (3) as a result:
Qpi=(2l-1)-fi(n,τ,k) (3)
A large amount of system resource needed for dispatching algorithm in dynamic priority lifting process can not only be reduced in this way, ensured simultaneously
The requirement of real-time of all kinds of node messages.It is as shown in Figure 3 that DDPQ algorithm promotes flow chart.
The improvement dispatching algorithm of distributed queue's priority of fused data reduction includes following sub-step:
(3-1) carries out the fusion on algorithm by reasonably Protocol Design, by step (1) (2).7 bit identifiers are taken to be used for
Distributed dynamic Priority scheduling；Take 2 bit identifiers as Static prioritization level segment；Simultaneously occupy 2 bit identifiers RIB and
CIB.Its respectively shared field is distributed like this, has just occupied 11 bit identifiers.
7 dynamic priorities are promoted the foremost that queue is placed on identifier by (3-2).During 2 reduction identifiers are placed on
Between, the priority appropriate for reducing repeated data.And 3 static identifiers are placed on finally, being used to realize node-classification.Specific mark
It is as shown in Figure 4 to know symbol field schematic diagram.
The principle of its respective data encoding process, the same step of dynamic priority lifting process (1) and method in step (2)
Identical, only respective identifier byte location changes.
In Fig. 3, firstly for CIB and RIB, detection data repeats situation, according to table 1 to RIB and CIB taxes
Value, and carry out encoding and decoding transmission.Then for dynamic identifier field, it is set as dynamic priority by first 7 in identifier, by
Provide that there can be no continuous 7 recessive positions on identifier in CAN bus, so priority maximum queue value can only be taken as 126,
So the value range of dynamic priority queue is (0-126).For static identifier field, set using 2 static identifiers
Set three kinds of static priorities, respectively 00,01,10, arrangement from high to low, which assigns it and promotes weight, respectively is taken as 15:3:1, thus
Dynamic field is promoted shown in weight function such as formula (4) in available bus:
In formula, x is priority class, respectively corresponds the 0,1,2 of node.It can be written as formula to which dynamic priority promotes function
(5) shown in:
Qpi=126- (5x2-17x+15)×n (5)
Message frame obtains the static priority x of this node first before sending every time and clashes in queuing process
Frequency n, as n=0, exactly newly generated frame just enters at the time of be lined up in priority queue, and bus will after arbitration
The smallest message of dynamic priority is sent from queue.If node has detected multiple message in data transmission procedure
Competition is then arbitrated according to original CAN protocol, and conflict number is then added 1 by arbitration failure, then by calling QpiIt is excellent to promote its dynamic
Then first grade, update message dynamic priority queue after calculating wait next round bus arbitration.When dynamic priority calculates
As a result it is less than or equal to 0, priority takes 0.If identifier dynamic priority is identical, continue to arbitrate its RIB and CIB
Position is scheduled according to the difference for repeating situation.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. the CAN dispatching method of fused data reduction and dynamic priority queue, which is characterized in that by CAN bus agreement
Reasonable design is carried out, establishes the mathematical model of CAN bus message response time and load by Ken Daer queuing theory first,
Obtain the theoretical delay of CAN bus under different loads；Then for the high feature of CAN bus information repetitive rate to real time information
Data reduction scheduling is carried out, the load in CAN bus is reduced, to promote CAN bus real-time performance, and application distribution formula queue
Dynamic priority scheduling algorithm reasonably dispatches CAN bus real-time messages, by sacrificing high-priority message by a small margin
Real-time performance, so that low priority message real-time performance is increased substantially, thus when reducing the average retardation of CAN bus message
Between.
2. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 1, feature exist
In, data reduction scheduling specifically includes the following steps:
(1-1) takes 2 in CAN identifier, is respectively used to be set as variation marker and reduces marker, variation marker is used
To indicate whether data change, reduction marker is used to show Data duplication byte situation；
(1-2) is disappeared according to the difference of Data duplication situation by the different variation marker of set and reduction marker to change
Cease priority；
(1-3) needs to it message for carrying out data reduction when that is, variation marker and reduction marker are not 0
It is recompiled and generates a new byte and be referred to as DRC byte, by set 0 for the i-th bit in DRC byte come table
I-th of byte of i-th of the byte and Backup Data of showing current data repeats, which is not required to send, therefore is reduced；Instead
It, by indicate that the current byte does not repeat, and it being arranged in the position DRC 1 according to original byte sequencing
After DRC byte；
After reduction transmission, receiving node will dock collection of letters breath and be decoded reconstruct (1-4) data.
3. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 2, feature exist
In in the step (1-2), if data pleonasm joint number is less than or equal to 1 byte in message, by variation marker and reduction mark
Know position and sets 0, highest priority；When being repeated more than 1 byte data, then it will change home position 0, and reduce home position 1,
Priority is taken second place；If data repeat completely, variation marker and reduction marker are set 1, priority is minimum.
4. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 2, feature exist
In in the step (1-4), when receiving new information, receiving node first determines whether the variation marker and reduction mark of the data
Position is known, if discovery variation home position 1, calls directly Backup Data；If changing marker is 0, reduction marker is 1,
Then receiving node is just decoded the data, and the repetition situation of data is judged with DRC sections and calls the data of corresponding byte,
And the non-duplicate data that subsequent second byte starts is received, receiving node is it is possible thereby to restore the total data content of the message.
5. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 2, feature exist
In, distributed queue's dynamic priority scheduling algorithm specifically includes the following steps:
CAN identifier is used for distributed dynamic Priority scheduling under (2-1) remainder, in all ID of remaining CAN identifier
In take l as priority field and be set as Qpi, which forms a FIFO priority queue in CAN bus, in CAN bus
Each node needs to record waiting of the node in CAN bus in addition to storing the position of this message in the queue
Delay, so that it is preferential to make the message sent in CAN bus form the relevant distributed dynamic of the parameters such as one and its waiting time
Weigh queue；
(2-2) is that different promotion weights is arranged in different nodes, and high-priority message should occupy biggish promotion weight, low preferential
Grade message occupies lesser promotion weight.
6. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 5, feature exist
In, in the step (2-1), if node i=0,1, the priority field Q of 2 ..., mpiWith the waiting time of message frame in the queue
T dynamic change, then it can be expressed as shown in formula (1):
Qpi=(2l-1)-fi(t) (1)
In formula: fi(t) what is represented is the function being incremented by as the time increases, and the waiting time is mainly derived from message and is arbitrating
Delay caused by competition constantly failure in the process, therefore, if setting the transmission time that τ be message frame in CAN bus, n is disappears
Cease the frequency of failure of the frame in queuing process, then can be normalized makes t=n τ, then it can be expressed as shown in formula (2):
Qpi=(2l-1)-fi(nτ) (2)。
7. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 6, feature exist
In, in the step (2-2), chooses a part of field and be used to do static priority field, it is remaining for dynamic priority field, root
It is different nodes to be provided with different weights according to the difference of node fixed priority, if k is that priority promotes weight, respectively
Node chooses different k values according to the difference of fixed priority, and fixed priority is higher, then k is bigger, on the contrary then smaller, by
This, formula (2) can be changed to shown in formula (3):
Qpi=(2l-1)-fi(n,τ,k) (3)。
8. the CAN dispatching method of fused data reduction and dynamic priority queue according to claim 7, feature exist
In the dynamic priority promotes the foremost that queue is placed on all CAN identifiers, and variation marker and reduction marker are put
In centre, static identifier is placed on finally.
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